The Denver Broncos signed right guard Chris Kuper a six-year contract Friday.

Kuper's deal is worth $29 million with $15 million in guarantees, an NFL source told ESPN.com's Bill Williamson.

"The fact that the Broncos are putting this much trust in me is an incredible feeling," Kuper said in a statement. "It is a dream come true. ... This is where I wanted to be because I feel like this team is headed in the right direction, and my family is excited that we can stay here and be a part of it."

Kuper, a fifth-round pick in 2006 out of the University of North Dakota, started 15 games for the Broncos last season after missing the season opener with an ankle injury.

According to Stats Inc., the 6-foot-4, 303-pound Kuper has surrendered just five sacks in 42 career starts.

Broncos coach Josh McDaniels said in a release Friday that the Broncos look forward to his "leadership and toughness in our efforts to build a championship caliber team."

Denver also signed fullback Kyle Eckel on Friday and released third-string quarterback Tom Brandstater as well as offensive lineman Maurice Williams.